| 利用图像形心的变化来判断触滑觉程度的方法研究 |
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| 引用本文： | 白羽,牛东,王莉铭. 利用图像形心的变化来判断触滑觉程度的方法研究[J]. 机床与液压, 2007, 35(4): 41-42,23 |
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| 作者姓名： | 白羽 牛东 王莉铭 |
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| 作者单位： | 长春工业大学,吉林长春,130012;长春工业大学,吉林长春,130012;长春工业大学,吉林长春,130012 |
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| 基金项目： | 国家专利项目 , 吉林省教育厅科技计划项目 |
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| 摘 要： | 利用压敏电阻器在压力作用下产生随压力变化而变化的输出电压的工作原理,将压敏电阻器单元以一定间距制成敏感阵列传感器.直接作用于敏感阵列上的压力信号,由压敏单元转为电压信号,再经A/D转换器件采集,同时利用软件生成图像信息,图像中每个像素对应一个触觉点,灰度表示该触觉所受的压力值.采用图象处理的算法,分析图像形心的变化,实现对压觉及滑觉程度的判断.
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| 关 键 词： | 触觉传感器 滑觉传感器 机器人 滑觉判别 |
| 文章编号： | 1001-3881（2007）4-041-2 |
| 修稿时间： | 2006-04-05 |
Research on the Method to Distinguish Tactile and Slippage by Analyzing the Shape of Image |
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| BAI Yu,NIU Dong,WANG Liming. Research on the Method to Distinguish Tactile and Slippage by Analyzing the Shape of Image[J]. Machine Tool & Hydraulics, 2007, 35(4): 41-42,23 |
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| Authors: | BAI Yu NIU Dong WANG Liming |
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| Affiliation: | Changchun University of Technology, Changchun Jilin 130012, China |
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| Abstract: | Sensitivity sensor array with definite distant was made with some press sensors based on the phenomenon that the traditional press sensor under different force can put out the synchronous voltage signal.With this array structure,the robot can receive slip and touch,the press signal directly forcing on sensitivity sensor array can be transformed into voltage signal,then be transformed into touch signal by the A/D device,and the tactile image was gotten.By analyzing the shape of image with some methods of image manipulation,the robot can feel the slip. |
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| Keywords: | Tactile sensor Slippage sensor Robot Slippage distinguishing |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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